JP2005057592A - Monitor system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a monitor system which allows the position and attitude of a moving camera to be identified on the basis of visual landmarks without spoiling finite spatial resources. <P>SOLUTION: The monitor system is provided with a fixed camera 20 which is fixed to a prescribed place in a prescribed space 1 and photographs a prescribed range, and the moving camera which moves in the prescribed space 1 and photographs a dead zone of the fixed camera 20, and the fixed camera 20 is provided with a plurality of marks 20a on a housing thereof, and the moving camera 30 identifies its position and attitude in the prescribed space 1 with the plurality of marks 20 provided on the fixed camera 20 as landmarks. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a monitoring system, and more particularly to a monitoring system that monitors a predetermined space with a fixed camera and a movable camera that can be moved.

  As shown in FIG. 6, a monitoring system 90 using a conventional mobile camera has a plurality of fixed cameras 91 that capture a predetermined range in a predetermined space 9 and a traveling unit that moves. And a moving camera 92 for photographing. In the monitoring system 90 configured in this way, a range that is a blind spot of the fixed camera 91 is photographed by the moving camera 92, and when an intruder is detected, a threatening sound is emitted by the moving camera 92 (for example, Patent Document 1). reference.).

When identifying the position and orientation of the mobile camera 92 in the monitoring system 90 as described above, the mobile camera 92 captures the landmark 93 installed in the space 9, and based on the pattern of the captured landmark image. Thus, the position and orientation of the moving camera 92 is detected with reference to the position where the photographed landmark is installed, and the position and orientation of the moving camera 92 in the space 9 is identified. The landmarks installed in the space 9 have unique characteristics such as a T-shaped landmark 93 drawn on a wall as shown in FIG.
JP-A-8-7186

  However, in such a conventional monitoring system, a landmark is installed in a space resource, for example, drawn on a wall, but the landmark must be kept in a state where it can be always photographed from a moving camera. In addition to being unable to use the spatial resources where the landmarks were installed for other purposes, there was a problem that the landmarks impaired the unification of the landscape. That is, there is a problem that the position and orientation of the moving camera cannot be identified based on visual landmarks without losing limited space resources.

  The present invention has been made to solve such a problem, and provides a monitoring system capable of identifying the position and orientation of a mobile camera based on visual landmarks without losing limited space resources. Is.

  The monitoring system of the present invention includes a fixed camera that is fixed at a predetermined place in a predetermined space and captures a predetermined range, and a moving camera that moves within the predetermined space and captures a blind spot of the fixed camera. The fixed camera is provided with a plurality of marks on the exterior, and the mobile camera identifies its position and orientation in the predetermined space using the plurality of marks provided on the fixed camera as landmarks. It has a configuration.

  With this configuration, the position and orientation of the moving camera are identified by using the mark provided on the exterior of the fixed camera as a landmark. For this reason, it is not necessary to install visual landmarks in the spatial resources, and the position and orientation of the mobile camera can be identified based on the visual landmarks without losing finite spatial resources.

  In addition, the monitoring system of the present invention captures a blind spot of the fixed camera, a plurality of fixed cameras that are fixed at a predetermined location in a predetermined space, respectively, and that move within the predetermined space. The fixed camera is provided with a plurality of marks on its exterior, and the moving camera includes a shooting means for shooting a blind spot of the fixed camera and the plurality of marks, and the shooting means. A fixed camera discrimination means for performing a fixed camera discrimination for discriminating which of the plurality of fixed cameras the mark photographed by the camera is, and a plurality of the marks photographed by the photographing means Based on an image pattern, relative position and orientation detection means for detecting a relative position and orientation of the moving camera with respect to the fixed camera, and the fixed camera discrimination means Position and orientation identification for identifying the position and orientation of the mobile camera in the predetermined space based on the position and orientation of the fixed camera determined in the predetermined space and the position and orientation detected by the relative position and orientation detection means Means.

  With this configuration, it is possible to use a mark provided on the exterior of a plurality of fixed cameras as a landmark, and to determine which of the plurality of fixed cameras the fixed camera is installed on. Thus, the position and orientation of the moving camera is identified. For this reason, it is not necessary to install visual landmarks in the spatial resources, and the position and orientation of the mobile camera can be identified based on the visual landmarks without losing finite spatial resources.

  In the monitoring system of the present invention, the mark provided on the exterior of the fixed camera has a different characteristic for each of the fixed cameras, and the fixed camera determination by the fixed camera determination means is performed on the mark. Based on the characteristics, the mark is configured to be determined by determining which of the plurality of fixed cameras is installed on the fixed camera.

  With this configuration, since the mark provided on each fixed camera has a different characteristic for each fixed camera, the moving camera can quickly and easily determine the fixed camera.

  In the monitoring system of the present invention, the fixed camera determination by the fixed camera determination unit is based on a position and orientation of the moving camera in the predetermined space immediately before the plurality of marks are captured. The plurality of marks photographed by the means is configured to estimate which fixed camera of the plurality of fixed cameras.

  With this configuration, the fixed camera can be determined without changing the feature of the mark for each fixed camera, so that the costs of the fixed camera and the entire system can be reduced.

  The monitoring system of the present invention further includes a system center device having a position and orientation management unit that manages the position and orientation of the fixed camera, and the position and orientation identification unit includes the predetermined space of the fixed camera in the system center device. The position and orientation of the mobile camera in the predetermined space is identified based on the position and orientation of the fixed camera in the predetermined space and the position and orientation detected by the relative position and orientation detection means. It has the composition to do.

  With this configuration, the position and orientation of the fixed camera is managed by the system center device. Therefore, when the position and orientation of the fixed camera is changed dynamically, or when the position and orientation of the fixed camera changes from the initial state. Even in such a case, it is possible to notify the mobile camera of the accurate position and orientation of the fixed camera from the system center device, and the mobile camera can identify its exact location and orientation in space.

  In the surveillance system of the present invention, the fixed camera is housed in a camera housing that protects the fixed camera, and the mark is provided not on the exterior of the fixed camera but on the exterior of the camera housing. doing.

  With this configuration, it is possible to easily realize a fixed camera having a mark on the exterior simply by changing the camera housing of the fixed camera or simply installing the camera housing on the fixed camera. For this reason, when introducing the surveillance system of the present invention in a space where a fixed camera is already installed, it is possible to save time and labor associated with the change of the fixed camera, and to suppress the cost associated with the change of the fixed camera. Can do.

  The fixed camera of the present invention has a configuration in which a plurality of marks are provided on the exterior.

  With this configuration, the mark provided on the exterior of the fixed camera is used as a landmark, and the position and orientation of the moving camera are identified, so there is no need to install a visual landmark in the space resource, and a finite space The position and orientation of the moving camera can be identified based on visual landmarks without losing resources.

  The fixed camera of the present invention has a configuration in which a spherical mark is provided at each of a plurality of end portions of the exterior.

  With this configuration, the mark provided on the exterior of the fixed camera is used as a landmark, and the position and orientation of the moving camera are identified, so there is no need to install a visual landmark in the space resource, and a finite space The position and orientation of the moving camera can be identified based on visual landmarks without losing resources. In addition, since the mark is always recognized as a circular shape when viewed from any direction, it is easy to identify the mark when identifying the position and orientation of the moving camera based on the pattern of the mark taken by the moving camera. Can be recognized.

  The fixed camera of the present invention has a configuration in which strip marks are provided on a plurality of edges of the exterior.

  With this configuration, the mark provided on the exterior of the fixed camera is used as a landmark, and the position and orientation of the moving camera are identified, so there is no need to install a visual landmark in the space resource, and a finite space The position and orientation of the moving camera can be identified based on visual landmarks without losing resources. In addition, since the mark is provided over a wide range of the exterior of the fixed camera, the mark can be easily recognized when identifying the position and orientation of the moving camera based on the pattern of the mark photographed by the moving camera. it can.

  The fixed camera according to the present invention has a configuration in which a reflective material that reflects light is painted on the surface of the mark.

  With this configuration, since the reflective material painted on the mark reflects light, the mark can be easily recognized even when a fixed camera is installed in a dim space.

  The fixed camera of the present invention has a configuration in which the mark emits light.

  With this configuration, since the mark emits light, the mark can be easily recognized even when a fixed camera is installed in a dim space.

  The fixed camera of the present invention has a configuration in which the mark is colored with a different color for each fixed camera.

  With this configuration, since the coloring of the mark differs for each fixed camera, it is possible to easily determine the fixed camera.

  The fixed camera of the present invention has a configuration in which the mark emits light at a different wavelength for each fixed camera.

  With this configuration, since the mark emits light with a different wavelength for each fixed camera, the fixed camera can be easily identified.

  The fixed camera of the present invention has a configuration in which the mark emits light with a different light emission pattern for each fixed camera.

  With this configuration, since the mark emits light with a different light emission pattern for each fixed camera, the fixed camera can be easily identified.

  The fixed camera of the present invention has a configuration in which the plurality of belt-shaped marks are provided with different barcode patterns for each fixed camera.

  With this configuration, since the belt-shaped mark forms a barcode pattern and has a different barcode pattern for each fixed camera, the fixed camera can be easily identified.

  The camera housing of the present invention is a camera housing that protects a fixed camera, and has a configuration in which a plurality of marks provided on the fixed camera according to claim 7 are provided on an exterior. Yes.

  With this configuration, it is possible to easily realize a fixed camera having a mark on the exterior simply by changing the camera housing of the fixed camera or simply installing the camera housing on the fixed camera. For this reason, when introducing the surveillance system of the present invention in a space where a fixed camera is already installed, it is possible to save time and labor associated with the change of the fixed camera, and to suppress the cost associated with the change of the fixed camera. Can do.

  The present invention includes a fixed camera for photographing a predetermined range and a moving camera for photographing a blind spot of the fixed camera while moving in a predetermined space, and the fixed camera is provided with a plurality of marks on the exterior, A moving camera uses multiple marks provided on a fixed camera as landmarks to identify its position and orientation in a given space, thereby moving based on visual landmarks without compromising finite spatial resources. It is possible to provide a monitoring system having an effect that the position and orientation of the camera can be identified.

  Embodiments of the present invention will be described below with reference to the drawings.

  As shown in FIG. 1 and FIG. 2, a monitoring system 10 according to an embodiment of the present invention includes a plurality of fixed cameras 20 that are respectively fixed at predetermined locations in a space 1 and photograph a predetermined range, and the space 1 The mobile camera 30 that captures the blind spot of the fixed camera 20 and the system center device 40 that communicates with the fixed camera 20 and the mobile camera 30 wirelessly or by wire and manages the captured images are provided.

  In addition, in the monitoring system 10 of this Embodiment, although the fixed camera 20 is comprised with two or more, the fixed camera 20 may be one.

  The fixed camera 20 is provided with a plurality of marks 20a on the exterior. Here, the mark 20a may have a belt-like shape as shown in FIG. 3, and the belt-like mark 20a is provided, for example, on the edge of the exterior of the fixed camera. Further, the mark 20a may have a spherical shape as shown in FIG. 4, and the spherical mark 20a is provided, for example, at an end of the exterior of the fixed camera. Further, the fixed camera 20 may be one having a housing exposed as shown in FIGS. 3 (a) and 4 (a), or the housing as shown in FIGS. 3 (b) and 4 (b). It may be housed in a camera housing. When the fixed camera 20 has a housing housed in the camera housing, the mark 20a is provided on the exterior of the camera housing.

  The mark 20a may emit light at a predetermined wavelength. The mark 20a may be coated with a reflective material that reflects light. The mark 20a may be colored.

  In addition, the mark 20a has a feature for each fixed camera 20 installed in the space 1. When the mark 20a is colored, the color of coloring may be changed for each fixed camera 20. When the mark 20 a emits light, the light emission pattern and the light emission frequency may be changed for each fixed camera 20, or the light emission wavelength may be changed for each fixed camera 20. Further, when the mark 20 a has a strip shape as shown in FIG. 3, a barcode-shaped mark 20 a having a different pattern for each fixed camera 20 may be installed on the fixed camera 20.

  As shown in FIG. 2, the fixed camera 20 includes an imaging unit 21 that captures a predetermined range and an encoding unit 22 that encodes video data obtained by imaging. Note that the fixed camera 20 may have a function of changing the shooting range by changing its own posture. In this case, the posture of changing the posture of the fixed camera 20 by panning and tilting the fixed camera 20. A change means 23 is provided. The encoding unit 22 outputs the encoded video data to the system center device 40. Further, the posture changing means 23 changes the posture of the fixed camera 20 according to the control of the system center device 40. Further, the posture changing means 23 may change the position of the fixed camera 20 along a rail fixed at a predetermined place.

  As shown in FIG. 2, the moving camera 30 detects a blind spot of the fixed camera 20 and a plurality of marks 20 a, and detects whether or not the mark 20 a has been shot by the shooting means 31. A mark extraction means 32 for extracting an image of 20a, and a fixed camera for performing fixed camera determination for determining which of the plurality of fixed cameras 20 the mark 20a photographed by the photographing means 31 belongs to. And a discriminating means 33. Note that when the monitoring system 10 includes only one fixed camera 20, the moving camera 30 may not include the fixed camera determination unit 33.

  In addition, the moving camera 30 includes a relative position / orientation detecting unit 34 that detects a relative position / orientation of the moving camera 30 with respect to the fixed camera 20 based on the image patterns of the plurality of marks 20 a captured by the imaging unit 31. The position and orientation for identifying the position and orientation of the mobile camera 30 in the space 1 based on the position and orientation of the fixed camera in the space 1 determined by the fixed camera discrimination means 33 and the position and orientation detected by the relative position and orientation detection means 34 And an identification means 35.

  The moving camera 30 also includes a position / orientation storage unit 36 that stores information representing the position and orientation identified by the position / orientation identification unit 35, and the movement of the moving camera 30 based on the position and orientation identified by the position / orientation identification unit 35. A movement plan setting unit 37 for setting a plan, an encoding unit 38 for encoding video data obtained by photographing by the photographing unit 31, and a communication unit 39 for performing wireless communication with the system center device 40 I have. In addition, it is assumed that the moving camera 30 is naturally provided with moving means for moving.

  The imaging unit 31 generates movement monitoring video data representing the captured video, and outputs the generated movement monitoring video data to the mark extraction unit 32 and the encoding unit 38.

  The movement extraction video data generated by the photographing means 31 is input to the mark extracting means 32, and the mark extracting means 32 detects that the mark 20a has been photographed by the photographing means 31. In this case, the mark image data representing the image of the mark is extracted from the input movement monitoring video data.

  The fixed camera discrimination means 33 generates fixed camera discrimination information indicating the result of the fixed camera discrimination, and outputs the generated fixed camera discrimination information to the position / orientation identification means 35. Note that the fixed camera discrimination information is configured by, for example, an identification number of the fixed camera, and the form thereof is not limited as long as the information can identify the fixed camera.

  The fixed camera discrimination means 33 stores in advance information representing the features of the mark 20a provided in each fixed camera 20, and performs the above-described fixed camera discrimination based on the information representing the features of the stored mark 20a. To do. Note that the fixed camera discrimination means 33 does not have to store information representing the feature of the mark 20a in advance, and represents the feature of the mark 20a provided in each fixed camera 20 when performing the fixed camera discrimination. The system center device 40 may be inquired for information via the communication means 39, and the above-described fixed camera determination may be performed based on information notified by the system center device 40.

  The relative position / posture detection unit 34 generates relative position / posture information representing the relative position / posture of the detected mobile camera 30 with respect to the fixed camera 20, and outputs the generated relative position / posture information to the position / posture identification unit 35. It has become. The relative position and orientation of the moving camera 30 refers to the position and orientation of the moving camera 30 when the position where the fixed camera 20 is installed and the posture of the fixed camera 20 are zero points.

  For example, if the mark 20a is a belt-like shape as shown in FIG. 3, the relative position / orientation detection means 34 is the length of the mark 20a when viewed from the mobile camera 30, and between the parallel marks 20a. The relative position and orientation of the moving camera 30 with respect to the fixed camera 20 is detected by calculating the relative position and orientation of the moving camera 30 with respect to the fixed camera 20 based on the distance of each mark, the inclination of each mark 20a, and the like. It has become.

  The position / orientation identification means 35 receives the fixed camera discrimination information generated by the fixed camera discrimination means 33 and the relative position / orientation information generated by the relative position / orientation detection means 34. The position / orientation identification means 35 stores in advance fixed camera position / orientation information indicating the position / orientation of each fixed camera 20. When the fixed camera 20 has a function of changing its own posture, the position / posture identification unit 35 may not store the fixed camera position / posture information in advance, and the fixed camera position / posture information may be stored in the communication unit 39. The fixed camera position / orientation information notified by the system center apparatus 40 may be stored through an inquiry to the system center apparatus 40 via the system center apparatus 40. Further, when the position and orientation of the fixed camera 20 are changed according to the time, the fixed camera position and orientation information represents the position and orientation of each fixed camera 20 corresponding to the time, and each fixed camera 20 is based on the time. It is also possible to represent a function or schedule that can calculate the position and orientation.

  Further, the position / orientation identification unit 35 reads information representing the position and orientation of the fixed camera 20 determined by the fixed camera determination unit 33 from the stored information based on the fixed camera determination information. The position and orientation of each fixed camera 20 refers to the position and orientation of the fixed camera 20 when a specific point in the space 1 is a zero point. The specific point in the space 1 is set in advance in the monitoring system 10. It means a point. Further, the position / orientation identification unit 35 sets the position / orientation of the moving camera 30 to the position / orientation with the fixed camera 20 as a zero point based on the read information indicating the position / orientation of the fixed camera 20 and the input relative position / orientation information. The position and orientation of the mobile camera 30 in the space 1 is identified as described above by converting from a position and orientation with a specific point in the space 1 to zero.

  The position / orientation identification unit 35 generates moving camera position / orientation information representing the position / orientation of the moving camera 30 in the space 1, and stores the generated moving camera position / orientation information in the position / orientation storage unit 36 and the movement plan setting unit 37. It is designed to output.

  The position / orientation storage unit 36 receives the mobile camera position / orientation information output by the position / orientation identification unit 35, and the position / orientation storage unit 36 stores the input mobile camera position / orientation information. It is like that. Note that the position / orientation storage means 36 updates the moving camera position / orientation information in accordance with the movement of the moving camera 30 and the change of the shooting direction of the moving camera 30.

  The moving camera position and orientation information output by the position and orientation identification unit 35 is input to the movement plan setting unit 37. The movement plan setting unit 37 sets a movement plan for moving from the position of the moving camera 30 represented by the input moving camera position and orientation information to a predetermined movement target position. The movement plan setting means 37 outputs information representing the set movement plan to a movement means (not shown), and the movement means moves the moving camera 30 based on the movement plan set by the movement plan setting means 37. It is like that.

  Here, the movement plan setting unit 37 inquires of the system center device 40 about the movement target position of the moving camera 30 via the communication unit 39, and sets the movement plan based on the movement target position notified by the system center device 40. It may be like this.

  The encoding unit 38 encodes the movement monitoring video data generated by the photographing unit 31 and transmits the encoded movement monitoring video data to the system center device 40 via the communication unit 39.

  The system center apparatus 40 includes a communication unit 41 that performs wireless communication with the mobile camera 30, a video processing unit 42 that decodes video data output by the fixed camera 20 and the mobile camera 30, and performs predetermined video processing. At least. In addition, when the fixed camera 20 has a function of changing its own posture, a posture control unit 43 that controls the posture of each fixed camera 20 and a position and posture management unit 44 that manages the position and posture of the fixed camera 20 are provided. It shall be. The position / orientation management unit 44 generates fixed camera position / orientation information indicating the position / orientation of each fixed camera 20 in response to a change in the posture of each fixed camera, and causes the communication unit 41 to respond to an inquiry from the mobile camera 30. The mobile camera 30 is notified of the fixed camera position and orientation information.

  Hereinafter, the flow of the operation for identifying the position and orientation of the mobile camera according to the monitoring system of the embodiment of the present invention will be described with reference to the flowchart shown in FIG.

  First, in the moving camera 30, the space 1 is imaged by the imaging means 31, and movement monitoring video data is generated by the imaging means 31 (step S1). Then, it is detected by the mark extraction means 32 whether or not the mark 20a is shown in the video represented by the movement monitoring video data, and it is detected that the mark 20a is shown in the video. In this case (step S2), the mark image data representing the image of the mark 20a is extracted from the movement monitoring video data by the mark extracting means 32 (step S3).

  Next, fixed camera discrimination is performed by the fixed camera discrimination means 33 (step S4). Further, the relative position and orientation of the moving camera 30 with respect to the fixed camera 20 is detected by the relative position and orientation detection means 34 (step S5). Next, based on the position and orientation of the fixed camera 20 determined by the fixed camera determination unit 33 and the relative position and orientation of the moving camera 30 with respect to the fixed camera 20, the position and orientation of the moving camera 30 in the space 1 is determined as position and orientation identification. It is identified by means 35 (step S6). Further, the moving camera position / orientation information indicating the position and orientation of the moving camera 30 in the space 1 is generated by the position / orientation identifying means 35, and the moving camera position / orientation information is stored in the position / orientation storage means 36 (step S7).

  As described above, the monitoring system according to the embodiment of the present invention identifies the position and orientation of the moving camera by using the mark provided on the exterior of the fixed camera as a landmark. For this reason, it is not necessary to install visual landmarks in the spatial resources, and the position and orientation of the mobile camera can be identified based on the visual landmarks without losing finite spatial resources.

  In addition, since the mark provided on each fixed camera has different characteristics for each fixed camera, the moving camera can shoot the mark of any fixed camera among multiple fixed cameras just by shooting the mark. It is possible to immediately determine whether or not

  In addition, since the position and orientation of the fixed camera is managed by the system center device, the position and orientation of the fixed camera is dynamically changed, or the position and orientation of the fixed camera changes from the initial state. In addition, the system center apparatus can notify the moving camera of the accurate position and orientation of the fixed camera, and the moving camera can identify its own accurate position and orientation in the space.

  In the monitoring system according to the embodiment of the present invention, since the mark provided in each fixed camera has a different characteristic for each fixed camera, the fixed camera discrimination means is based on the characteristic of the mark. Although the fixed camera discrimination is performed, the fixed camera discrimination means is configured to determine which of the plurality of fixed cameras the captured mark is based on the position and orientation in the space of the moving camera immediately before the mark is captured. The fixed camera discrimination described above may be performed by estimating whether the camera is a fixed camera. Note that the position and orientation in the space of the moving camera immediately before the mark is photographed are given by the moving camera position and orientation information that is updated each time the moving camera moves and changes the photographing direction in the movement plan setting means. It shall be. With this configuration, since it is not necessary to change the feature of the mark for each fixed camera, the costs of the fixed camera and the entire system can be suppressed.

  In the monitoring system according to the embodiment of the present invention, when the moving camera needs information indicating the position and orientation of the fixed camera, the information indicating the position and orientation of the fixed camera is inquired to the system center device by the moving camera. After that, the system center device notifies the mobile camera, but if the mark emits light, the position and orientation of the fixed camera are indicated to the mobile camera via the light emission pattern of the mark. It may be made to recognize. With this configuration, even if the mobile camera needs information indicating the position and orientation of the fixed camera, it can know the position and orientation of the fixed camera simply by photographing the mark without making inquiries to the system center device one by one. be able to.

  In addition, the mark extraction unit, the fixed camera discrimination unit, the relative position / posture detection unit, the position / posture identification unit, the position / posture storage unit, and the movement plan setting unit are provided in the mobile camera in the monitoring system according to the embodiment of the present invention. However, it may be provided in the system center apparatus.

  As described above, the monitoring system according to the present invention has the effect of being able to identify the position and orientation of a mobile camera based on visual landmarks without losing limited space resources, and has been fixed. This is useful as a monitoring system for monitoring a predetermined space with a fixed camera and a movable camera that can move.

Configuration diagram of a monitoring system according to an embodiment of the present invention The block diagram of the structure of the monitoring system of embodiment of this invention (A) Overview of a fixed camera in which a band-shaped mark is provided on an edge of the exterior according to the monitoring system of the embodiment of the present invention (b) A belt-like shape on the edge of the exterior according to the monitoring system of the embodiment of the present invention Overview of the camera housing with the mark (A) Overview of a fixed camera in which a spherical mark is provided at an end of an exterior according to the monitoring system of the embodiment of the present invention (b) End of the exterior according to the monitoring system of the embodiment of the present invention Overview of the camera housing with a spherical mark on the part The flowchart which shows the flow of the process which identifies the position and orientation of the mobile camera which concerns on the monitoring system of embodiment of this invention. Configuration diagram of a conventional monitoring system

Explanation of symbols

DESCRIPTION OF SYMBOLS 1, 9 Space 10, 90 Surveillance system 20, 91 Fixed camera 20a Mark 21, 31 Image | photographing means 22, 38 Coding means 23 Attitude change means 30, 92 Moving camera 32 Mark extraction means 33 Fixed camera discrimination means 34 Relative position Attitude detection means 35 Position / attitude identification means 36 Position / attitude storage means 37 Movement plan setting means 39, 41 Communication means 40 System center device 42 Video processing means 43 Attitude control means 44 Position / attitude management means 93 Landmark

Claims (16)

A fixed camera that is fixed at a predetermined place in a predetermined space and shoots a predetermined range; and a moving camera that moves in the predetermined space and shoots a blind spot of the fixed camera, the fixed camera includes: A plurality of marks are provided on the exterior, and the mobile camera identifies its position and orientation in the predetermined space using the marks provided on the fixed camera as landmarks . A plurality of fixed cameras that are fixed at predetermined positions in a predetermined space and respectively photograph a predetermined range; and a movable camera that moves within the predetermined space and photographs a blind spot of the fixed camera. The camera is provided with a plurality of marks on its exterior, and the moving camera has a blind spot of the fixed camera and photographing means for photographing the plurality of marks, and the marks photographed by the photographing means are A fixed camera determining means for determining a fixed camera of a plurality of fixed cameras; and the moving camera based on an image pattern of the plurality of marks photographed by the photographing means. Relative position and orientation detection means for detecting a relative position and orientation of the fixed camera, and the fixed camera determined by the fixed camera determination means A position and orientation identification unit that identifies the position and orientation of the mobile camera in the predetermined space based on the position and orientation in a predetermined space and the position and orientation detected by the relative position and orientation detection unit. Monitoring system. The mark provided on the exterior of the fixed camera has a different characteristic for each of the fixed cameras, and the fixed camera discrimination by the fixed camera discrimination means is based on the feature of the mark. The monitoring system according to claim 2, wherein the monitoring system is performed by determining which one of the plurality of fixed cameras is installed. The fixed camera discrimination by the fixed camera discrimination means is performed by the plurality of marks taken by the photographing means based on the position and orientation of the moving camera in the predetermined space immediately before the plurality of marks are photographed. The monitoring system according to claim 2, wherein the monitoring system is performed by estimating which of the plurality of fixed cameras is a chapter. A system center device having position and orientation management means for managing the position and orientation of the fixed camera, wherein the position and orientation identification means inquires of the system center device about the position and orientation of the fixed camera in the predetermined space, and The position and orientation of the movable camera in the predetermined space is identified based on the position and orientation of the camera in the predetermined space and the position and orientation detected by the relative position and orientation detection means. The monitoring system according to claim 4. 6. The fixed camera is housed in a camera housing that protects the fixed camera, and the mark is provided not on the exterior of the fixed camera but on the exterior of the camera housing. The monitoring system according to any one of the above. A fixed camera characterized by multiple marks on the exterior. A fixed camera characterized in that a spherical mark is provided at each of a plurality of ends of the exterior. A fixed camera characterized in that a band-shaped mark is provided on each of a plurality of edges of the exterior. 10. The fixed camera according to claim 7, wherein a surface of the mark is coated with a reflective material that reflects light. The fixed camera according to claim 7, wherein the mark emits light. The fixed camera according to any one of claims 7 to 11, wherein the mark is colored with a different color for each fixed camera. The fixed camera according to claim 11, wherein the mark emits light at a different wavelength for each fixed camera. The fixed camera according to claim 11, wherein the mark emits light with a different light emission pattern for each fixed camera. The fixed camera according to claim 9, wherein the plurality of belt-shaped marks are provided with different barcode patterns for each fixed camera. 16. A camera housing for protecting a fixed camera, wherein a plurality of marks provided on the fixed camera according to claim 7 are provided on an exterior.

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